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All Journal IAES International Journal of Robotics and Automation (IJRA)
Kim, Dong Hwan
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Automotive Engineering Electrical & Electronics Engineering

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Waypoint and autonomous flying control of an indoor drone for GPS-denied environments Son, Seung Je; Kim, Hun Se; Kim, Dong Hwan
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp233-249

Abstract

In this study, we propose a method for recognizing the self-location of a drone flying in an indoor environment and introduce the flying performance using it. DWM1000, which is an ultra-wide band communication module, was used for accurate indoor self-location recognition. The self-localization algorithm constructs a formula using trilateration and finds the solution using the gradient descent method. Using the measured values of the distance between the modules in the room, it is found that the error stays within 10-20 cm when the newly proposed trilateration method is applied. We confirmed that the 3D position information of the drone can be obtained in real-time, and it can be controlled to move to a specific location. We proposed a drone control scheme to enable autonomous flight indoors based on deep learning. In particular, to improve the conventional convolutional neural network (CNN) algorithm that uses images from three video cameras, we designed a distinguished CNN structure with deeper layers and appropriate dropouts to use the input data set provided by only one camera.
Mechanism design for walking typed solar panel-cleaning robot using triple driving lines Jang, Woo Jin; Kim, Jin Gahk; Lee, Sang Hun; Kim, Dong Hwan
IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v12i1.pp1-19

Abstract

In this study, we propose a walking-type solar power cleaning robot mechanism driven by a driving unit composed of three driving lines. The triple driving lines are driven using a link mechanism, and vacuum pads are attached to each driving line to move the robot body through a sequence operation between the three lines. Through this mechanism, the robot body can be moved horizontally with the panel without folding the pad, and the amount of vertical movement is minimized during movement. By analyzing the pressure patterns of the pads on the driving line, smooth and fast movement was possible.
Control system design of duct cleaning robot capable of overcoming L and T-shaped ducts Seo, Myeong In; Jang, Woo Jin; Ha, Junhwan; Park, Kyongtae; Kim, Dong Hwan
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (980.622 KB) | DOI: 10.11591/ijra.v9i2.pp123-134

Abstract

This study introduces the control method of duct cleaning robot that enables real-time position tracking and self-driving over L-shaped and T-shaped duct sections. The developed robot has three legs and is designed to flexibly respond to duct sizes. The position of the robot inside the duct is identified using the UWB communication module and the location estimation algorithm. Although UWB communication has relatively large distance error within the metal, the positional error was reduced by introducing appropriate filters to estimate the robot position accurately. TCP/IP communication allows commands to be sent between the PC and the robot and to receive live images of the camera attached to the robot. Using Haar-like and classifiers, the robot can recognize the type of duct that is difficult to overcome, such as L-shaped and T-shaped duct, and it moves successfully inside the duct according to the corresponding moving algorithms.
Co-Authors Ha, Junhwan Jang, Woo Jin Kim, Hun Se Kim, Jin Gahk Lee, Sang Hun Park, Kyongtae Seo, Myeong In Son, Seung Je